凸轮轴机床的工件输送机构的设计（含CAD图纸全套）.doc

买文档后送图纸，QQ 194535455 凸轮轴机床的工件输送机构的设计 摘 要 在现代企业生产过程中，生产线零件的输送是非常重要的工作之一，随着生产自动化的发展，目前，这一工作已由机械手的自动搬运逐渐替代传统的人工完成。机械手的出现在减轻工人劳动强度和难度、提高工作效率和质量、降低生产成本上做出了突出贡献,机械手的发展在企业的发展和创收上起到了举足轻重的作用。机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。工业机械手是近几十年发展起来的一种高科技自动生产设备 关键字：机器人；抓取装置；工业机械手；手爪 CAM shaft of machine tool workpiece conveying mechanism design Abstract In the modern enterprise production process, the delivery of parts of the production line is one of the very important work, with the development of production automation, this work by the automatic handling of the robot gradually replace the traditional manual. Reduce labor intensity and difficulty, improve work efficiency and quality, reduce production costs, the emergence of robot made ??outstanding contributions to the development of the robot has played a pivotal role in the development of enterprises and income-generating. The robot is imitating the action of manpower, the robotic device used to automatically capture, handling or operation to achieve a given program, track and requirements.The industrial robot is a high-tech automated production equipment developed in recent decades. The design of this project an application in the the seven stations camshaft machine tools, robots, used to implement the delivery of the workpiece. Clear function of the robot, the technical parameters, it works, the main structure and characteristics. Requirements of the structure is simple, grab the weight, opening and closing stroke, reliable operation, thereby enhancing production efficiency. Keywords: robot ；grasping device；industrial manipulator； gripper 目 录 1 绪论 1 1.1题目背景 1 1.2研究意义 1 1.3国内研究的情况 1 1.4国外研究情况 2 1.5本课题研究的主要内容 2 1.5.1凸轮轴机床的工作原理 2 1.5.2机械手总体结构的设计 2 机械手的总体设计 5 2.1机械手的设计原则 5 2.2机械手的座标型式与自由度 6 2.2.1确定大体参数 6 2.3机械手的手部结构方案设计 2.4机械手的手腕结构方案设计 7 2.5机械手的手臂结构方案设计 7 2.6机械手的控制方案设计 2.7机械手的主要技术参数 3 手部结构设计 3.1夹持式手部结构 3.1.1手指的形状和分类 3.1.2设计时考虑的几个问题 3.1.3手部夹紧液压缸的设计 4 手腕结构设计 4.1手腕的自由度 4.2手腕的驱动力矩的计算 4.2.1手腕转动时所需的驱动力矩 4.2.2回转